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Haitao Wang

Haitao Wang contributes to research discovery and scholarly infrastructure.

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Computational Geometry Data Structures and Algorithms Artificial Intelligence Computer Vision Information Retrieval Computation and Language cond-mat.mtrl-sci cond-mat.str-el Robotics

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preprint2026arXiv

Anatomy Aware Cascade Network: Bridging Epistemic Uncertainty and Geometric Manifold for 3D Tooth Segmentation

Accurate three-dimensional (3D) tooth segmentation from Cone-Beam Computed Tomography (CBCT) is a prerequisite for digital dental workflows. However, achieving high-fidelity segmentation remains challenging due to adhesion artifacts in naturally occluded scans, which are caused by low contrast and indistinct inter-arch boundaries. To address these limitations, we propose the Anatomy Aware Cascade Network (AACNet), a coarse-to-fine framework designed to resolve boundary ambiguity while maintaining global structural consistency. Specifically, we introduce two mechanisms: the Ambiguity Gated Boundary Refiner (AGBR) and the Signed Distance Map guided Anatomical Attention (SDMAA). The AGBR employs an entropy based gating mechanism to perform targeted feature rectification in high uncertainty transition zones. Meanwhile, the SDMAA integrates implicit geometric constraints via signed distance map to enforce topological consistency, preventing the loss of spatial details associated with standard pooling. Experimental results on a dataset of 125 CBCT volumes demonstrate that AACNet achieves a Dice Similarity Coefficient of 90.17 \% and a 95\% Hausdorff Distance of 3.63 mm, significantly outperforming state-of-the-art methods. Furthermore, the model exhibits strong generalization on an external dataset with an HD95 of 2.19 mm, validating its reliability for downstream clinical applications such as surgical planning. Code for AACNet is available at https://github.com/shiliu0114/AACNet.

preprint2026arXiv

CoFlow: Coordinated Few-Step Flow for Offline Multi-Agent Decision Making

Generative models have emerged as a promising paradigm for offline multi-agent reinforcement learning (MARL), but existing approaches require many iterative sampling steps. Recent few-step acceleration methods either distill a joint teacher into independent students or apply averaged velocity fields independently to each agent. Unfortunately, these few-step approaches hurt inter-agent coordination. We show that the efficiency-coordination trade-off is not inherent: single-pass multi-agent generation can preserve coordination when the velocity field is natively joint-coupled. We propose Coordinated few-step Flow (CoFlow), an architecture that combines Coordinated Velocity Attention (CVA) with Adaptive Coordination Gating. A finite-difference consistency surrogate further replaces memory-prohibitive Jacobian-vector product backpropagation through the averaged velocity field with two stop-gradient forward passes. Across 60 configurations spanning MPE, MA-MuJoCo, and SMAC, CoFlow matches or surpasses Gaussian policies, value-based methods, transformer policies, diffusion models, and prior flow baselines on episodic return. Three independent coordination probes confirm that CoFlow's improvements arise from inter-agent coordination rather than per-agent capacity. A denoising-step sweep shows that single-pass inference suffices on every configuration. CoFlow reaches state-of-the-art coordination quality in 1-3 denoising steps under both centralized and decentralized execution. Project Page: https://guowei-zou.github.io/coflow/

preprint2026arXiv

Discrimination Is Generation: Unifying Ranking and Retrieval from a Tokenizer Perspective

Semantic IDs (SIDs) define the generation space of generative recommendation and directly determine its personalization ceiling. However, existing tokenizers are trained independently with retrieval objectives, leaving personalization signals fully decoupled from the SID construction process -- a fundamental gap that causes generative retrieval to persistently lag behind discriminative ranking. In this paper, we rethink the essence of SIDs: \emph{ranking seeks argmax in item space while retrieval seeks argmax in token space; both are the same problem solved at different granularities.} Based on this insight, we propose \DIG (\textbf{D}iscrimination \textbf{I}s \textbf{G}eneration), which embeds the tokenizer inside a discriminative ranking model for end-to-end training -- the ranker naturally becomes a retrieval model, yielding two models from a single training run. \DIG is organized around a \emph{feature assignment taxonomy}: item-intrinsic static features are encoded into SIDs, user-item cross features (u2i) implicitly drive codebook boundaries toward recommendation decision boundaries during training, and an MLP$_\mathrm{u2t}$ distillation module approximates u2i at the token level for inference. Experiments on three public benchmarks and two industrial datasets demonstrate that \DIG simultaneously improves ranking, retrieval, and unified retrieval-ranking quality.

preprint2026arXiv

DynamicPO: Dynamic Preference Optimization for Recommendation

In large language model (LLM)-based recommendation systems, direct preference optimization (DPO) effectively aligns recommendations with user preferences, requiring multi-negative objective functions to leverage abundant implicit-feedback negatives and sharpen preference boundaries. However, our empirical analyses reveal a counterintuitive phenomenon, preference optimization collapse, where increasing the number of negative samples can lead to performance degradation despite a continuously decreasing training loss. We further theoretically demonstrate that this collapse arises from gradient suppression, caused by the dominance of easily discriminable negatives over boundary-critical negatives that truly define user preference boundaries. As a result, boundary-relevant signals are under-optimized, weakening the model's decision boundary. Motivated by these observations, we propose DynamicPO (Dynamic Preference Optimization), a lightweight and plug-and-play framework comprising two adaptive mechanisms: Dynamic Boundary Negative Selection, which identifies and prioritizes informative negatives near the model's decision boundary, and Dual-Margin Dynamic beta Adjustment, which calibrates optimization strength per sample according to boundary ambiguity. Extensive experiments on three public datasets show that DynamicPO effectively prevents optimization collapse and improves recommendation accuracy on multi-negative preference optimization methods, with negligible computational overhead. Our code and datasets are available at https://github.com/xingyuHuxingyu/DynamicPO.

preprint2026arXiv

Med-DisSeg: Dispersion-Driven Representation Learning for Fine-Grained Medical Image Segmentation

Accurate medical image segmentation is fundamental to precision medicine, yet robust delineation remains challenging under heterogeneous appearances, ambiguous boundaries, and large anatomical variability. Similar intensity and texture patterns between targets and surrounding tissues often lead to blurred activations and unreliable separation. We attribute these failures to representation collapse during encoding and insufficient fine grained multi scale decoding. To address these issues, we propose Med DisSeg, a dispersion driven medical image segmentation framework that jointly improves representation learning and anatomical delineation. Med DisSeg combines a lightweight Dispersive Loss with adaptive attention for fine grained structure segmentation. The Dispersive Loss enlarges inter sample margins by treating in batch hidden representations as negative pairs, producing well dispersed and boundary aware embeddings with negligible overhead. Based on these enhanced representations, the encoder strengthens structure sensitive responses, while the decoder performs adaptive multi scale calibration to preserve complementary local texture and global shape information. Extensive experiments on five datasets spanning three imaging modalities demonstrate consistent state of the art performance. Moreover, Med DisSeg achieves competitive results on multi organ CT segmentation, supporting its robustness and cross task applicability.

preprint2026arXiv

SpectraFlow: Unifying Structural Pretraining and Frequency Adaptation for Medical Image Segmentation

Medical image segmentation remains challenging in low-data regimes, where scarce annotations often yield poor generalization and ambiguous boundaries with missing fine structures. Recent self-supervised pretraining has improved transferability, but it often exhibits a texture bias. In contrast, accurate segmentation is inherently geometry-aware and depends on both topological consistency and precise boundary preservation. To address this problem, we propose a two-stage framework that couples structure-aware encoder pretraining with boundary-oriented decoding. In Stage-1, we aim to learn structure-aware representations for downstream segmentation in low-data regimes. To this end, we propose Mixed-Domain MeanFlow Pretraining, which aligns images and binary masks in a shared latent space through latent transport regression, where masks act as conditional structural guidance rather than prediction targets, making the pretraining task-agnostic. To further improve training stability under scarce supervision, we incorporate a lightweight Dispersive Loss to prevent representation collapse. In Stage-2, we fine-tune the pretrained encoder with a lightweight decoder that combines Direct Attentional Fusion for adaptive cross-scale gating and Frequency-Directional Dynamic Convolution for high-frequency boundary refinement under appearance variation. Experiments on ISIC-2016, Kvasir-SEG, and GlaS demonstrate consistent gains over state-of-the-art methods, with improved robustness in low-data settings and sharper boundary delineation.

preprint2024arXiv

Algorithms for Computing Closest Points for Segments

Given a set $P$ of $n$ points and a set $S$ of $n$ segments in the plane, we consider the problem of computing for each segment of $S$ its closest point in $P$. The previously best algorithm solves the problem in $n^{4/3}2^{O(\log^*n)}$ time [Bespamyatnikh, 2003] and a lower bound (under a somewhat restricted model) $Ω(n^{4/3})$ has also been proved. In this paper, we present an $O(n^{4/3})$ time algorithm and thus solve the problem optimally (under the restricted model). In addition, we also present data structures for solving the online version of the problem, i.e., given a query segment (or a line as a special case), find its closest point in $P$. Our new results improve the previous work.

preprint2022arXiv

Autonomous Electric Vehicle Battery Disassembly Based on NeuroSymbolic Computing

The booming of electric vehicles demands efficient battery disassembly for recycling to be environment-friendly. Due to the unstructured environment and high uncertainties, battery disassembly is still primarily done by humans, probably assisted by robots. It is highly desirable to design autonomous solutions to improve work efficiency and lower human risks in high voltage and toxic environments. This paper proposes a novel framework of the NeuroSymbolic task and motion planning method to disassemble batteries in an unstructured environment using robots automatically. It enables robots to independently locate and disassemble battery bolts, with or without obstacles. This study not only provides a solution for intelligently disassembling electric vehicle batteries but also verifies its feasibility through a set of test results with the robot accomplishing the disassembly tasks in a complex and dynamic environment.

preprint2022arXiv

Computing the Minimum Bottleneck Moving Spanning Tree

Given a set $P$ of $n$ points that are moving in the plane, we consider the problem of computing a spanning tree for these moving points that does not change its combinatorial structure during the point movement. The objective is to minimize the bottleneck weight of the spanning tree (i.e., the largest Euclidean length of all edges) during the whole movement. The problem was solved in $O(n^2)$ time previously [Akitaya, Biniaz, Bose, De Carufel, Maheshwari, Silveira, and Smid, WADS 2021]. In this paper, we present a new algorithm of $O(n^{4/3} \log^3 n)$ time.

preprint2022arXiv

Real-space Observation of Incommensurate Spin Density Wave and Coexisting Charge Density Wave on Cr(001) surface

In itinerant magnetic systems, a spin density wave (SDW) state can be induced by Fermi surface nesting and electron-electron interaction. It may intertwine with other orders such as charge density wave (CDW), while their relation is still yet to be understood. Here via spin-polarized scanning tunneling microscopy, we directly observed long-range spin modulation on Cr(001) surface, which corresponds to the well-known incommensurate SDW of bulk Cr. It displays 6.0 nm in-plane period and anti-phase behavior between adjacent (001) planes. Meanwhile, we simultaneously observed the coexisting CDW with half the period of SDW. Such SDW/CDW have highly correlated domain structures and are in-phase. Surprisingly, the CDW displays a contrast inversion around a density-of-states dip at -22 meV, indicating an anomalous CDW gap opened below EF. These observations support that the CDW is a secondary order driven by SDW. Our work is not only a real-space characterization of incommensurate SDW, but also provides insights on how SDW and CDW coexist.

preprint2022arXiv

Unit-Disk Range Searching and Applications

Given a set $P$ of $n$ points in the plane, we consider the problem of computing the number of points of $P$ in a query unit disk (i.e., all query disks have the same radius). We show that the main techniques for simplex range searching in the plane can be adapted to this problem. For example, by adapting Matoušek's results, we can build a data structure of $O(n)$ space so that each query can be answered in $O(\sqrt{n})$ time. Our techniques lead to improvements for several other classical problems, such as batched range searching, counting/reporting intersecting pairs of unit circles, distance selection, discrete 2-center, etc. For example, given a set of $n$ unit disks and a set of $n$ points in the plane, the batched range searching problem is to compute for each disk the number of points in it. Previous work [Katz and Sharir, 1997] solved the problem in $O(n^{4/3}\log n)$ time while our new algorithm runs in $O(n^{4/3})$ time.

preprint2021arXiv

A New Algorithm for Euclidean Shortest Paths in the Plane

Given a set of pairwise disjoint polygonal obstacles in the plane, finding an obstacle-avoiding Euclidean shortest path between two points is a classical problem in computational geometry and has been studied extensively. Previously, Hershberger and Suri [SIAM J. Comput. 1999] gave an algorithm of $O(n\log n)$ time and $O(n\log n)$ space, where $n$ is the total number of vertices of all obstacles. Recently, by modifying Hershberger and Suri's algorithm, Wang [SODA 2021] reduced the space to $O(n)$ while the runtime of the algorithm is still $O(n\log n)$. In this paper, we present a new algorithm of $O(n+h\log h)$ time and $O(n)$ space, provided that a triangulation of the free space is given, where $h$ is the number of obstacles. The algorithm, which improves the previous work when $h=o(n)$, is optimal in both time and space as $Ω(n+h\log h)$ is a lower bound on the runtime. Our algorithm builds a shortest path map for a source point $s$, so that given any query point $t$, the shortest path length from $s$ to $t$ can be computed in $O(\log n)$ time and a shortest $s$-$t$ path can be produced in additional time linear in the number of edges of the path.

preprint2020arXiv

A Linear-Time Algorithm for Discrete Radius Optimally Augmenting Paths in a Metric Space

Let $P$ be a path graph of $n$ vertices embedded in a metric space. We consider the problem of adding a new edge to $P$ so that the radius of the resulting graph is minimized, where any center is constrained to be one of the vertices of $P$. Previously, the "continuous" version of the problem where a center may be a point in the interior of an edge of the graph was studied and a linear-time algorithm was known. Our "discrete" version of the problem has not been studied before. We present a linear-time algorithm for the problem.

preprint2020arXiv

Algorithms for Subpath Convex Hull Queries and Ray-Shooting Among Segments

In this paper, we first consider the subpath convex hull query problem: Given a simple path $π$ of $n$ vertices, preprocess it so that the convex hull of any query subpath of $π$ can be quickly obtained. Previously, Guibas, Hershberger, and Snoeyink [SODA 90'] proposed a data structure of $O(n)$ space and $O(\log n\log\log n)$ query time; reducing the query time to $O(\log n)$ increases the space to $O(n\log\log n)$. We present an improved result that uses $O(n)$ space while achieving $O(\log n)$ query time. Like the previous work, our query algorithm returns a compact interval tree representing the convex hull so that standard binary-search-based queries on the hull can be performed in $O(\log n)$ time each. Our new result leads to improvements for several other problems. In particular, with the help of the above result, we present new algorithms for the ray-shooting problem among segments. Given a set of $n$ (possibly intersecting) line segments in the plane, preprocess it so that the first segment hit by a query ray can be quickly found. We give a data structure of $O(n\log n)$ space that can answer each query in $(\sqrt{n}\log n)$ time. If the segments are nonintersecting or if the segments are lines, then the space can be reduced to $O(n)$. All these are classical problems that have been studied extensively. Previously data structures of $\widetilde{O}(\sqrt{n})$ query time (the notation $\widetilde{O}$ suppresses a polylogarithmic factor) were known in early 1990s; nearly no progress has been made for over two decades. For all problems, our results provide improvements by reducing the space of the data structures by at least a logarithmic factor while the preprocessing and query times are the same as before or even better.

preprint2020arXiv

On the Planar Two-Center Problem and Circular Hulls

Given a set $S$ of $n$ points in the Euclidean plane, the two-center problem is to find two congruent disks of smallest radius whose union covers all points of $S$. Previously, Eppstein [SODA'97] gave a randomized algorithm of $O(n\log^2n)$ expected time and Chan [CGTA'99] presented a deterministic algorithm of $O(n\log^2 n\log^2\log n)$ time. In this paper, we propose an $O(n\log^2 n)$ time deterministic algorithm, which improves Chan's deterministic algorithm and matches the randomized bound of Eppstein. If $S$ is in convex position, then we solve the problem in $O(n\log n\log\log n)$ deterministic time. Our results rely on new techniques for dynamically maintaining circular hulls under point insertions and deletions, which are of independent interest.

preprint2020arXiv

Overview of the CCKS 2019 Knowledge Graph Evaluation Track: Entity, Relation, Event and QA

Knowledge graph models world knowledge as concepts, entities, and the relationships between them, which has been widely used in many real-world tasks. CCKS 2019 held an evaluation track with 6 tasks and attracted more than 1,600 teams. In this paper, we give an overview of the knowledge graph evaluation tract at CCKS 2019. By reviewing the task definition, successful methods, useful resources, good strategies and research challenges associated with each task in CCKS 2019, this paper can provide a helpful reference for developing knowledge graph applications and conducting future knowledge graph researches.

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Computational Geometry Data Structures and Algorithms Artificial Intelligence Computer Vision Information Retrieval Computation and Language cond-mat.mtrl-sci cond-mat.str-el Robotics

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